Thank you again for your advice! Sorry for the delay in response but I wanted to post this incase someone else is having the same problem. We did reduce vibrations by stiffening our GPS masts and mounting our FC differently for marginal improvements. It turns out the real issue was our notch filter was configured incorrectly. INS_HNTCH_FREQ was set to 80 Hz which prevented our FFT based filter from going low enough to capture the first harmonic from our props at around 40-60 Hz. Fixing this resolved all of our stability issues. The flyaway type behavior was caused by MOT_SPIN_MIN being set too high so that the motors leaning into the wind couldn’t go low enough to allow it to pitch into the wind without it gaining altitude. Lowering it appears to have fixed it entirely.